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1. Dealing with sensor errors in scan matching for simultaneous localization and mapping

Creator:
Krejsa, Jiří and Věchet, Stanislav
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
localization, mobile robotics, and SLAM
Language:
English
Description:
The paper presents Potential-Based Scan Matching (PSCM) method used for simultaneous localization and mapping of mobile robot in unknown environment. The method is based on matching two proximity sensor scans from different robot locations. The resistance of the method against errors in sensor readings is investigated using both general sensor error model and error model for LMS 200 laser scanner. The method proved to be highly resistent for the noise levels exceeding the commonly used instruments.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2. Lokalizační metoda akustické emise založená na Akaikeho informačním kritériu

Creator:
Sedlák, Petr and Enoki, Manabu
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
acoustic emission, localization, arrival time determination, akustická emise, lokalizace, and určení příchozího času
Language:
Czech
Description:
Acoustic emission (Ae) offers a great potential due to its ability of quantitative evaluation such as a source location and a source characterization. Determination of an arrival time is a fundamental problem, which influences precise localization of Ae events. Manual picks are time consuming and sometimes subjective, especially in the case of large volumes of digital data. Various techniques have been presented in the literature and are routinely used in practice such as a passing the threshold level, analysis of the LTA/STA (Long Term Average / Short Term Average) or high order statistics. The paper represents an approach based on Akaike information criterion. The comparison of this approach and the methods described above was carried out on a model situation, when acoustic emission events were generated by two artificial sources Ae. and Akustická emise (AE) nabízí obrovský potenciál díky své možnosti kvantitativního vyhodnocování jako je lokalizace a charakterizace emisních zdrojů. Určení příchozího času je elementární informace, která zásadně ovlivňuje přesnou lokalizaci emisních událostí. Manuální odečet je časově náročný a leckdy subjektivní, zvláště v případě velkých objemů měřených dat. Existují různé metody popsané v literatuře a běžně v praxi používané jako překmit předdefinované úrovně amplitudy, porovnání krátkodobých a dlouhodobých průměrů nebo techniky využívající statistiky vyšších řádů. Tento článek prezentuje přístup založený na Akaikeho informačním kritériu a zároveň jej porovnává s výše uvedenými metodami na modelové situaci, kdy jsou emisní události generovány pomocí dvou umělých zdrojů akustické emise.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

3. Mobile robot localization under stochastic communication protocol

Creator:
Lu, Yanyang and Shen, Bo
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
Riccati equations, localization, mobile robot, and stochastic communication protocol
Language:
English
Description:
In this paper, the mobile robot localization problem is investigated under the stochastic communication protocol (SCP). In the mobile robot localization system, the measurement data including the distance and the azimuth are received by multiple sensors equipped on the robot. In order to relieve the network burden caused by network congestion, the SCP is introduced to schedule the transmission of the measurement data received by multiple sensors. The aim of this paper is to find a solution to the robot localization problem by designing a time-varying filter for the mobile robot such that the filtering error dynamics satisfies the H∞ performance requirement over a finite horizon. First, a Markov chain is introduced to model the transmission of measurement data. Then, by utilizing the stochastic analysis technique and completing square approach, the gain matrices of the desired filter are designed in term of a solution to two coupled backward recursive Riccati equations. Finally, the effectiveness of the proposed filter design scheme is shown in an experimental platform.
Rights:
http://creativecommons.org/publicdomain/mark/1.0/ and policy:public

4. On the global dynamics of the cancer AIDS-related mathematical model

Creator:
Starkov, Konstantin E. and Plata-Ante, Corina
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
cancer growth model, AIDS, compact invariant set, omega-limit set, localization, and ultimate cancer free dynamics
Language:
English
Description:
In this paper we examine some features of the global dynamics of the four-dimensional system created by Lou, Ruggeri and Ma in 2007 which describes the behavior of the AIDS-related cancer dynamic model in vivo. We give upper and lower ultimate bounds for concentrations of cell populations and the free HIV-1 involved in this model. We show for this dynamics that there is a positively invariant polytope and we find a few surfaces containing omega-limit sets for positive half trajectories in the positive orthant. Finally, we derive the main result of this work: sufficient conditions of ultimate cancer free behavior.
Rights:
http://creativecommons.org/publicdomain/mark/1.0/ and policy:public

5. Předložky v(e), na a jejich konkurence ve statických prostorověrelačních významech

Creator:
Ocelák, Radek
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
preposition, prepositional meaning, variation, static spatial relation, localization, předložka, předložkový význam, konkurence, statická prostorová relace, and lokalizace
Language:
Czech
Description:
The article provides a classification of the static spatial relations expressed by the prepositions v(e) and na (in most contexts translated as in and on) in contemporary Czech, based on the data of The Czech National Corpus and the internet. Both prepositions, used with a nominal phrase in the locative, may refer to several distinct relations between the determined and the determining spatial object (usually, but not necessarily, various types of localization). For each of the prepositions, these relations are classified with special attention to possible variation between the two (and some other) prepositions in describing the same situation. Such detailed analysis of prepositional meanings and variation seems useful e. g. in advanced learning of Czech as a foreign language. The description of the static spatial meanings of the prepositions is a proper basis for describing their other spatial (dynamic) as well as non-spatial (ab-stract) meanings.
Rights:
http://creativecommons.org/publicdomain/mark/1.0/ and policy:public

6. Presentation robot Advee

Creator:
Krejsa, Jiří, Věchet, Stanislav, Hrbáček, Jan, Ripel, Tomáš, Ondroušek, Vít, Hrbáček, Radek, and Schreiber, Petr
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
mobile robot, human-robot interface, localization, and motion planning
Language:
English
Description:
The paper gives detailed overview of the prototype of autonomous mobile robot Advee, developed for presentation purposes. Mechanical, electrical, sensor and software subsystems are described in the paper together with key algorithms such as localization and motion planning. Advee already performed over 600 hours of operation among common people, the experiences gained from the operation are also summarized in the paper. and Obsahuje seznam literatury
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public